Collision avoidance control apparatus

1. A collision avoidance control apparatus for a vehicle, comprising:

a first sensor configured to, through use of an electromagnetic wave or an ultrasonic wave, detect an object present in a predetermined peripheral area of the vehicle, and acquire first detection information which is information on the detected object;

a second sensor configured to capture a predetermined peripheral range of the vehicle to acquire image data, detect an object present in the peripheral range through use of the image data, and acquire second detection information which is information on the detected object;

a controller configured to:

determine whether or not there is an obstacle which is an object which is likely to collide with the vehicle based on first object information, second object information, and third object information, the first object information being information obtained by integrating the first detection information on a specific object and the second detection information on the specific object, the specific object being an object which has been detected by both of the first sensor and the second sensor, the second object information being the first detection information on an object which has been detected by the first sensor and has not been detected by the second sensor, and the third object information being the second detection information on an object which has been detected by the second sensor and has not been detected by the first sensor, and

when determining that there is the obstacle, execute first collision avoidance control including at least braking force control for applying a braking force to wheels of the vehicle; and

a memory configured to, when the specific object has been previously detected by both of the first sensor and the second sensor, record information on the previously detected specific object,

wherein:

the controller is configured to execute the first collision avoidance control when determining that there is the obstacle based on the first object information,

the controller is configured to execute the first collision avoidance control when determining that there is the obstacle based on any one of the second object information and the third object information, and determining that a first condition is satisfied, the first condition being satisfied when the obstacle has been already recorded as the specific object in the memory, and

the controller is configured not to execute the first collision avoidance control when determining that there is the obstacle based on any one of the second object information and the third object information, and determining that the first condition is not satisfied.

2. The collision avoidance control apparatus according to claim 1 , wherein:

the controller is configured to select and execute any one of the first collision avoidance control and second collision avoidance control, the second collision avoidance control being control which includes alert control for alerting a driver of the vehicle and does not include the braking force control, and

the controller is configured to execute the second collision avoidance control when determining that there is the obstacle based on any one of the second object information and the third object information, and determining that the first condition is not satisfied.

3. The collision avoidance control apparatus according to claim 2 , wherein:

the controller is configured to execute the second collision avoidance control when determining that there is the obstacle based on the second object information, and determining that the first condition is not satisfied, and

the controller is configured not to execute the second collision avoidance control when determining that there is the obstacle based on the third object information, and determining that the first condition is not satisfied.

4. The collision avoidance control apparatus according to claim 2 , further comprising:

a vehicle speed sensor configured to detect a traveling speed of the vehicle; and

an accelerator pedal operation amount sensor configured to detect an operation amount of an accelerator pedal of the vehicle,

wherein:

the controller is configured to determine whether or not a second condition is satisfied, the second condition being satisfied when the traveling speed is lower than a predetermined speed threshold and the operation amount of the accelerator pedal is equal to or larger than a predetermined operation amount threshold,

the controller is configured to execute the first collision avoidance control when determining that there is the obstacle based on any one of the second object information and the third object information, and determining that the first condition and the second condition are satisfied, and

the controller is configured to execute the second collision avoidance control when determining that there is the obstacle based on any one of the second object information and the third object information, and determining that the first condition is not satisfied and the second condition is satisfied.

5. The collision avoidance control apparatus according to claim 4 , wherein:

the controller is configured to execute the second collision avoidance control when determining that there is the obstacle based on the second object information, and determining that the first condition is not satisfied and the second condition is satisfied, and

the controller is configured not to execute the second collision avoidance control when determining that there is the obstacle based on the third object information, and determining that the first condition is not satisfied and the second condition is satisfied.

6. The collision avoidance control apparatus according to claim 1 , further comprising:

a vehicle speed sensor configured to detect a traveling speed of the vehicle; and

an accelerator pedal operation amount sensor configured to detect an operation amount of an accelerator pedal of the vehicle,

wherein:

the controller is configured to determine whether or not a second condition is satisfied, the second condition being satisfied when the traveling speed is lower than a predetermined speed threshold and the operation amount of the accelerator pedal is equal to or larger than a predetermined operation amount threshold, and

the controller is configured to execute the first collision avoidance control when determining that there is the obstacle based on any one of the second object information and the third object information, and determining that the first condition and the second condition are satisfied.

7. The collision avoidance control apparatus according to claim 1 , wherein the memory is configured to record, as part of the information on the detected specific object, an object ID and a detection time.

8. The collision avoidance control apparatus according to claim 7 , wherein the object ID is identification information for identifying the object, and the detection time is time when the object corresponding to the object ID has been firstly detected by at least one of the first sensor and the second sensor.